EP1405037B1 - Device for optical measurement of distance over a large measuring range - Google Patents

Device for optical measurement of distance over a large measuring range Download PDF

Info

Publication number
EP1405037B1
EP1405037B1 EP20020732409 EP02732409A EP1405037B1 EP 1405037 B1 EP1405037 B1 EP 1405037B1 EP 20020732409 EP20020732409 EP 20020732409 EP 02732409 A EP02732409 A EP 02732409A EP 1405037 B1 EP1405037 B1 EP 1405037B1
Authority
EP
European Patent Office
Prior art keywords
detector
target object
optical
surface
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20020732409
Other languages
German (de)
French (fr)
Other versions
EP1405037A1 (en
Inventor
Dierk Schmidt
Joerg Stierle
Peter Wolf
Gunter Flinspach
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE10130763 priority Critical
Priority to DE2001130763 priority patent/DE10130763A1/en
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to PCT/DE2002/001553 priority patent/WO2003002939A1/en
Publication of EP1405037A1 publication Critical patent/EP1405037A1/en
Application granted granted Critical
Publication of EP1405037B1 publication Critical patent/EP1405037B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4816Constructional features, e.g. arrangements of optical elements of receivers alone
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00Measuring distances in line of sight; Optical rangefinders
    • G01C3/02Details
    • G01C3/06Use of electric means to obtain final indication
    • G01C3/08Use of electric radiation detectors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4811Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491Details of non-pulse systems
    • G01S7/4912Receivers
    • G01S7/4918Controlling received signal intensity, gain or exposure of sensor
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497Means for monitoring or calibrating
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • G01S17/32Systems determining position data of a target for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves

Abstract

The invention relates to a device for optical measurement of distance, comprising a transmitter unit (12), with a light source (17,18), for transmitting modulated optical radiation onto a target object (15) and with a receiver unit (14), displaced relative to the optical axis (38) of the transmitter unit (12), with at least one optical detector (54) for receiving the optical radiation (16,49,50), returning from the target object (15) and a control and evaluation unit (36) for determining the distance (48) from the device to the target object (15). According to the invention, the active light sensitive surfaces (66,67,69,82) of the detector (54) in the receiver unit (14) taper in the direction (61) of the radiation shift for receding target object separations (48) arising from the parallax of the returning radiation.

Description

  • The invention relates to a device for optical distance measurement according to the preamble of the independent claim.
  • Optical distance measuring devices as such have been known for quite some time and are now commercially available. These devices emit a modulated light beam that is aligned with the surface of a desired target object whose distance from the device is to be determined. The light reflected or scattered by the targeted target surface is partially re-detected by the device and used to determine the desired distance.
  • The scope of such rangefinders generally includes distances in the range of a few centimeters to several hundred meters.
  • Depending on the running distances to be measured and the reflectivity of the target object, different requirements are imposed on the light source, the quality of the measuring beam and on the detector.
  • The known from the prior art optical distance measuring devices can basically be divided into two categories according to the arrangement of the transmitter and receiver channel necessarily present in the device. On the one hand, there are devices in which the transmission channel is arranged at a certain distance from the reception channel, so that the respective optical axes run parallel to one another. On the other hand there are monoaxial measuring devices in which the receiving channel runs coaxially to the transmitting channel. The biaxial measuring systems have the advantage that there is no need for complex radiation division for selecting the returning measurement signal, so that, for example, optical crosstalk from the transmission channel directly into the reception channel can be better suppressed.
  • On the other hand, in the case of biaxial distance measuring devices, there is, inter alia, the disadvantage that detection problems can arise for the range of short measuring distances due to parallax:
  • The image of the target object on the detector surface of the measuring receiver integrated in the device, which is still clearly on the detector for large target distances, moves increasingly with decreasing measuring distance away from the optical axis of the receiving branch and also experiences a variation of the beam cross section in the detector plane.
  • This requires that without further measures on the device, in the vicinity of the detection, that is, for a small distance between the target and the meter, the measurement signal can go to zero.
  • From the DE 43 16 348 A1 a device for distance measurement with a generated by a semiconductor laser visible measuring beam is known, the receiving device includes a light guide with downstream opto-electronic converter. The light entry surface in the fiber of the light guide is arranged in the imaging plane of the receiving lenses of this device for large object distances and displaceable from this position transverse to the optical axis.
  • In this way it is in the device of DE 43 16 348 A1 It is possible to guide the measuring beams which are incident increasingly obliquely into the receiving lens at short object distances via the tracking of the optical fiber in the case of a spatially unchangeable detector onto the photosensitive surface of the detector.
  • The necessary electronic control of the tracking and the use of additional and in particular also moving parts in the disclosed distance measuring device of DE 43 16 348 A1 mean a considerable effort, which increases the complexity and thus the cost and the vulnerability of such a system.
  • Alternatively, the DE 43 16 348 A1 to solve the parallax problem of biaxial measuring devices to arrange the optical fiber entrance surface fixed and to ensure by optical deflection in the edge region of the receiving lens that the measuring light beams can still fall on the detector even with shorter object distance. Among other things, it is proposed to use a deflection mirror which deflects the measuring beams entering the measuring device from a short distance to the detector. To solve the same problem, the use of a prism, which is introduced into the edge region of the receiving lens, is proposed in the same document.
  • A disadvantage of this solution to the problem must be the necessary additional components. Furthermore, a negative interaction of these additional components with the beam path of the measuring beams from a great distance can not always be ruled out, so that signal interference can also occur for this reason restrict the usable range of the rangefinder.
  • Advantages of the invention
  • The inventive device for optical distance measurement with the features of the independent claim has the advantage of being able to dispense with additional optical elements for correcting the parallax problem and still allow for the near range enough measurement signal on the detector.
  • In this case, the shape of the photosensitive, active surface of the detector according to the invention is selected so that a signal of sufficient amplitude is present on the detector surface even in the near range.
  • This makes it possible to expand the measuring range accessible to this measuring device in a simple and reliable manner
  • Compared with the devices for optical distance measurement known from the prior art, the device according to the invention has the advantage that the distance traveled by the optical radiation is not influenced by the means for remedying the parallax problem, so that they do not have any negative effects on the distance measurement ,
  • Furthermore, no adjustment of additional, especially moving components in the meter is necessary.
  • Advantageous embodiments of the device according to the invention will become apparent from the features listed in the dependent claims.
  • Advantageously, the size of the photosensitive surface of the detector of the receiving unit is chosen so large that enough signal falls even in the near field on the detector. Because the measuring beam returning from the target object emanates laterally for a decreasing object distance in the common plane of the optical axis of the transmitting unit and the optical axis of the receiving unit, the detector will advantageously assume an elongated shape in this direction. In this way, the dependence of the direction of the returning measuring signal from the distance of the measuring device to the target object is taken into account by the specific inventive shape of the active, active detector surface.
  • The inventive shape of the effective detector surface also makes it possible to take into account the dependence of the strength of the returning measuring signal from the distance of the measuring device to the target object. Due to the underlying law of square law for changing the intensity as a function of the traveled distance, the returning measurement signal for the near range is significantly larger than for target objects that are far away from the measuring instrument.
  • The extent of the effective detector surface perpendicular to the common plane of the optical axes of transmitting and receiving unit can therefore decrease as the light signal increases due to the shorter running distance in the near range. This has the advantage that, due to the expansion of the detector, although sufficient light from the near zone falls on the detector, but that the detector can not be overridden by the light from the near range due to its smaller in this direction active, photosensitive surface. Moving the Detector from the focus of the receiving lens along the optical receiving axis for adjusting the signal strength falling on the detector is thus no longer necessary in the device according to the invention.
  • The inventive design of the detection surface thus has the advantage that the ratio of useful light to extraneous light is significantly improved, so that increased for this reason the accuracy of the device in the immediate vicinity and thus the range of the device is extended.
  • The size of the area of the detector only has to ensure that the effective area in the area of the detector in which light from far away target objects impinges on the detector surface is large enough to detect the entire signal as far as possible. This is also a consequence of the square-law of the distance, which is subject to the detected intensity, and leads to a relatively weak detection signal for distant measuring objects.
  • The lateral extent of the detector must be correspondingly so large that enough light from the immediate vicinity of the detection reaches the detection surface. Due to the high signal level, which results from the short distance in the near range, it is not necessary in this case to detect the full signal strength.
  • A further advantage of the claimed device is that the electrical capacitive properties of the detector of the measuring device are positively influenced on account of the inventive form of an embodiment of the active detection surface. Too large a detector surface would increase the electrical capacitance of the detector, so that the temporal response characteristic, or - equivalent - the frequency response of the measuring system would no longer meet the required requirements of the time or frequency resolution of the measuring system.
  • In an advantageous embodiment of the device according to the invention, the area of the detector used is therefore exactly as large as required by the boundary conditions outlined above.
  • A simple and inexpensive embodiment of the device according to the invention with the claimed detection surface is obtained when the effective, i. light-sensitive detection surface is formed by partial coverage of an originally larger detector surface. For this purpose, for example, a large area detector obtained an opaque layer in the areas that should not be used for detection, so that only the claimed form can be used as an effective, active detector surface. Depending on the wavelength of the measurement signal used and the detector selected, the opaque regions can be produced, for example, by vapor deposition or coating of a layer on the detector surface. Even with a simple mechanical mask or aperture could be realized in a simple manner, the claimed shape for the active surface of the detector.
  • Advantageously, the inventive device for optical distance measurement can be realized by the use of a laser as a light source. Lasers and in particular laser diodes are available over the entire visible spectral range of the electromagnetic waves. In particular, laser diodes are suitable because of their compact size and now also high Output power for use in distance measuring devices of the claimed form.
  • The partially attached, optically opaque layer on the detector surface may in this case be, for example, an evaporated metal layer which optically deactivates the semiconductor detector used at the desired locations.
  • drawing
  • Further advantages will become apparent from the following description. In the drawings, embodiments of the device according to the invention are shown. The description, drawings and claims contain numerous features in combination. A person skilled in the art will also consider these features individually and combine them into meaningful further combinations.
  • Show it:
    • FIG. 1 the schematic plan view of an embodiment of the measuring device according to the invention,
    • FIG. 2 a plan view of the detector surface according to the invention with marked measuring beams at different distances of the measuring device to the measured object,
    • FIG. 3 the detector surface according to the invention FIG. 2 in a single presentation,
    • FIG. 4 an alternative embodiment of the active detection surface according to the invention,
    • FIG. 5 a further embodiment of the active detection surface according to the invention
    • and
    • FIG. 6 the plan view of an embodiment of a detector surface according to the invention,
  • In the FIG. 1 is a schematic representation of an inventive distance measuring device with the most important components to describe its function.
  • The device 10 according to the invention has a housing 11 in which a transmitting device 12 for generating a measuring signal 13 and a receiving device 14 for detecting the returning of a target object 15 measuring signal 16 are housed.
  • The transmitting device 12 includes a light source 17, which in the embodiment of the FIG. 1 is realized by a semiconductor laser diode 18. The use of other light sources in the device according to the invention is also possible. The laser diode 18 emits a laser beam 20 in the form of a light beam 22 visible to the human eye.
  • The laser diode 18 is operated via a control unit 24, which generates a modulation of the electrical input signal 19 of the diode 18 by a corresponding electronics. By means of such a modulation of the diode current, it is possible to achieve that the optical measuring signal 13 for determining the distance is likewise modulated in the desired manner.
  • The laser beam 20 then passes through a collimating optics 26, in the form of a lens 28, which in the FIG. 1 is shown in the form of a single lens 30. In this exemplary embodiment, the objective 28 is optionally located on an adjustment mechanism 32, which in principle makes it possible to change the position of the objective in all three spatial directions, for example for adjustment purposes.
  • After passing through the objective 28, for example, an amplitude-modulated measuring signal 13 in the form of a parallel light beam 37 that propagates along the optical axis 38 of the transmitting unit 12 results, as shown in FIG FIG. 1 is shown schematically.
  • In the transmitting branch 12 of the device according to the invention there is also a preferably switchable beam deflection 40, which allows the measuring signal 13 to be redirected by bypassing a target object directly to the receiving unit 14 of the device 10. In this way, it is possible to generate a device-internal reference path 42, which allows a calibration of the measuring system.
  • If a measurement is to be carried out, the measuring beam 13 leaves the housing 11 of the device according to the invention through an optical window 44 in the end wall 45 of the device 10. The opening of the optical window can be secured by a shutter 46.
  • For measurement, the measuring device 10 is aligned with a target object 15 whose distance 48 to the measuring device is to be determined. The signal 16 reflected or also scattered at the desired target object 15 forms a returning measuring beam bundle 49, 50, which returns to a certain extent back into the measuring device 10.
  • Through an entrance window 47 in the end face 45 of the device 10, the returning measuring radiation 16 is coupled into the measuring device and in the embodiment of FIG. 1 directed to a receiving optics 52.
  • In FIG. 1 For example, two returning measuring beam bundles 49 and 50 are shown for two different target object distances 48. For large object distances, and large in this case means large compared to the focal length of the receiving optics, the signal returning from the target object 16 is incident parallel to the optical axis 51 of the receiving device 14. This case is in the embodiment of FIG. 1 represented by the measuring beam 49. With decreasing object distance, the returning signal 16 incident in the measuring device is inclined more and more with respect to the optical axis 51 of the receiving unit 14 due to a parallax. As an example of a returning measuring beam from the vicinity of the distance measuring device is in FIG. 1 the beam 50 drawn.
  • The receiving optics 52, which in the embodiment of the FIG. 1 is also symbolized by a single lens, the returning measurement signal 16 collimates and focuses its beam 49,50 on a receive detector 54, which may be formed as a PIN diode or CCD chip or as another, known in the art surface detector. The area detector is usually aligned with its active, photosensitive surface perpendicular to the optical axis of the receiving branch. The incident optical signal is converted by the reception detector 54 into an electrical signal 55, and supplied to the evaluation unit 36 for further evaluation.
  • The receiving optics 52, which in the embodiment of the FIG. 1 is mounted on a Verstellmimik 53, located approximately at a distance of its focal distance from the active surface of the detector, so that incident radiation coming from a target, which is far away from the meter, is focused exactly on the detector. However, for small distances to the target, it is observed that the imaging position for the target reflected or scattered at the target object is increasingly away from the focus of the receiving lens. Thus, the focused returning measuring beam moves with decreasing distance of the target object to the measuring device always further away from the optical axis of the receiving device and thus deviates more and more from the optical axis of the transmitting device. In addition, the returning measuring beam is no longer focused exactly on the detector surface due to the changed imaging conditions on the receiving lens. As the target distance becomes shorter, there is an ever-increasing spot on the detector surface.
  • On other existing in the meter components, but for the understanding of the device according to the invention are not absolutely necessary, will not be discussed further in this context. It should only be noted that the meter of course also has a control and evaluation unit 36.
  • The relationships between the distance of the target object from the measuring device and the position or the size of the measuring spot on the detector surface is schematically in FIG FIG. 2 again shown to the overview.
  • FIG. 2 shows a plan view of the detector surface in the direction of returning from the measurement object measurement signal 16. The position 56 indicates the common plane the optical axis 38 of the transmitting unit 12 with the optical axis 51 of the receiving unit 14. The measuring spot 58 of the returning radiation 16 for very large object distances 48 lies on the optical axis of the receiving unit 14 and is focused on the surface 66 of the detector 54 to a small focal spot , Since the detector 54 is approximately at the distance of the focal length of the receiving optics 52, light that comes visually from the infinite is focused directly on the detector surface due to the optical imaging laws.
  • With decreasing distance 48 of the measuring device 10 from the target object 15, the returning signal 16 falls increasingly obliquely on the receiving objective 52, so that the measuring spot on the detector surface in the direction of arrow 61 in FIG. 2 emigrated.
  • The in FIG. 2 also drawn measuring spot 62 for a small object distance 48 of the target object 15 from the measuring device 10 has thus migrated away from the optical axis 51 of the receiving device and significantly increased in its extent. At a very small measuring distance 48 of the measuring object 15 to the measuring device 10 results on the detector surface, a measuring spot 64 of the returning measurement signal 16 is again significantly increased and also far from the optical axis 51 of the receiving unit 14 comes to rest on the detector surface.
  • This displacement of the measuring spot with the relative distance 48 of the measuring object 15 to the measuring device 10 can cause the returning signal 16 no longer falls on the active surface of the measuring receiver 54 for very small object distances, as indicated by an indicated, dashed area 60 in FIG. 2 is hinted that the Surface of a conventional measuring receiver of the prior art should symbolize.
  • In order to take account of the variation in the size and position of the measuring spot in the detection plane of the receiving unit 14, the active, photosensitive surface 66 of the detector 54 according to the invention is designed accordingly. In the region of the optical axis 51 of the receiving unit 14, the detector surface 66 should be at least so large that the entire measuring spot 58 falls completely from the far region, ie for very large target object distances 48, onto the active detector surface 66.
  • The active surface 66 of the detector 54 tapers in the embodiment of FIG. 2 increasingly in the direction 61 of the beam shift resulting from parallax of the return radiation 16 for decreasing target distances 48. In this case, the detector surface 66 is so large in lateral extent that even in the case of very small distances 48 of the target object 15 to the measuring device 10, sufficient measuring signal falls on the detector 54. Due to the high signal level, the returning measuring signal from the near range, the entire measuring spot does not have to lie on the active detector surface.
  • FIG. 3 shows once again the detection surface 66 according to the invention FIG. 2 singly drawn out for the sake of clarity.
  • In the FIGS. 4 and 5 Further exemplary embodiments of an active, photosensitive surface of the detector 54 according to the invention are indicated which are intended to further illustrate the underlying idea of the invention, but are not to be regarded as limiting the claimed device. In the FIGS. 4 and 5 the position 56 denotes the common plane of the optical axis 38 of the Transmitting unit 12 with the optical axis 51 of the receiving unit 14. The location 38 marks the position of the optical axis of the transmitting unit 12, and the location 51, the corresponding position of the optical axis of the receiving unit 14th
  • The embodiment of FIG. 4 1 shows a surface 67 of a detector 54 according to the invention which has a first region 72 in which the size of the photosensitive surface in direction 61 of the beam displacement is constant due to the parallax of the returning measurement signal 16 and a second, directly adjoining region 74 of the surface 67 in that the size of the detector surface 67 continuously decreases in the direction 61 of this beam displacement.
  • The FIG. 5 discloses the photosensitive surface 68 of a detector 54 which decreases continuously and uniformly in the direction 61 of the parallax-induced beam shift, and thus takes the form of a triangle. Of course, the detector 54 according to the invention may also have a trapezoidal shape, which becomes narrower with increasing distance from the optical axis of the transmitting unit, or can in Auführungsbeispiel the FIG. 4 , the rejuvenation of the detector surface are also produced by a discrete step.
  • FIG. 6 shows a possibility for realizing an embodiment of the detector 54 according to the invention. While in the Ausführungsbeipielen the FIGS. 2 to 5 the effective, ie photosensitive surface 66, 67, 68 of the detector 54 is equal to the total detector area, in the exemplary embodiment of FIG FIG. 6 the active, ie effective light-sensitive detection surface 69 derived from an originally larger detector surface 78. For this purpose, the optically sensitive surface 78 of a semiconductor detector with, for example, a circular detection surface is coated in certain areas with an optically impermeable layer 80, whereby the Semiconductor detector is deactivated in these coated areas, so that only an uncoated part surface 69 of the semiconductor detector remains as photosensitive. This active part surface 69 can be in the manufacturing process any desired shape, including the forms that in the FIGS. 2 to 5 To produce this opaque layer, for example, the vapor deposition of a metal layer can be used to the desired locations of the original detection surface. Other optical deactivation measures of the semiconductor surface known to the person skilled in the art can also be used for this purpose, so that at this point it is not necessary to discuss the details of the production.
  • All designs of the exemplary embodiments shown have in common that the active, that is to say photosensitive, surface of the detector according to the invention tapers in the direction of the beam displacement due to the parallax for shorter target object distances. That is, the extension of the active area of the detector perpendicular to the common plane of the optical axes of the transmitting unit and the receiving unit decreases in the above-mentioned direction.
  • The device according to the invention is not limited to the embodiments presented in the description.
  • It should be noted explicitly that a convex detector surface is also conceivable. The exact shape of the change in the detector surface with increasing distance from the optical axis of the transmitting device depends inter alia on the desired measuring range in which the measuring device according to the invention is to operate. The exact geometry of the device and the optical imaging conditions in the receiving branch are also to be considered for optimization.
  • Also, the taper of the active detector surface does not have to be continuous, but may also be realized discretely, for example in individual stages.

Claims (7)

  1. Device for optical distance measurement having a transmitting unit (12) with a light source (17, 18) for emitting modulated, optical radiation (13, 20, 22) onto a target object (15), and having a receiving unit (14), spaced apart from the optical axis (38) of the transmitting unit (12), with at least one optical detector (54) for receiving the optical radiation (16, 49, 50) returning from the target object (15), and having a control and evaluation unit (36) for determining the distance (48) of the device from the target object (15), characterized in that the active, photosensitive surface (66, 67, 68, 69) of the detector (54) of the receiving unit (14) tapers in the direction (61) of a beam displacement for decreasing target object distances (48) which results from a parallax of the returning variation (16).
  2. Device according to Claim 1, characterized in that the photosensitive surface (66, 67, 68, 69) of the detector (54) is at least so large that the measurement spot (58) of the returning radiation (16, 49) from a target object (15) with a large object distance is completely detected.
  3. Device according to Claim 1 or 2, characterized in that the extent of the photosensitive surface (66, 67, 68, 69) of the detector (54) in a direction perpendicular to the optical axis (51) of the receiving unit (14) is at least so large that the measuring beam (50) returning from a target object (15) at close range still falls at least partially onto the photosensitive surface (66, 67, 68, 69).
  4. Device according to one of the preceding claims, characterized in that the photosensitive surface (66, 67, 68, 69) of the detector (55) has an axis of symmetry which lies in the common plane (56) of the optical axes of the transmitting unit (38) and receiving unit (51).
  5. Device according to one of the preceding claims, characterized in that the active, photosensitive surface (66, 67, 68, 69) of the detector (54) is formed by partially covering a relatively large, optically sensitive detector surface (78).
  6. Device according to Claim 4, characterized in that the active, photosensitive surface (66, 67, 68, 69) of the detector (54) is formed by partially applying an optically opaque layer (80) to the originally larger, optically sensitive detector surface (78).
  7. Device according to one of the preceding claims, characterized in that the light source (17, 18) is a laser, in particular a laser diode (18) which emits radiation in the wavelength region of the spectrum of electromagnetic waves which is visible to the human eye.
EP20020732409 2001-06-26 2002-04-27 Device for optical measurement of distance over a large measuring range Active EP1405037B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE10130763 2001-06-26
DE2001130763 DE10130763A1 (en) 2001-06-26 2001-06-26 Device for optical distance measurement over a large measuring range
PCT/DE2002/001553 WO2003002939A1 (en) 2001-06-26 2002-04-27 Device for optical measurement of distance over a large measuring range

Publications (2)

Publication Number Publication Date
EP1405037A1 EP1405037A1 (en) 2004-04-07
EP1405037B1 true EP1405037B1 (en) 2011-07-06

Family

ID=7689488

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20020732409 Active EP1405037B1 (en) 2001-06-26 2002-04-27 Device for optical measurement of distance over a large measuring range

Country Status (5)

Country Link
US (1) US6833909B2 (en)
EP (1) EP1405037B1 (en)
JP (1) JP2004521355A (en)
DE (1) DE10130763A1 (en)
WO (1) WO2003002939A1 (en)

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4222792B2 (en) * 2002-06-26 2009-02-12 シャープ株式会社 Ranging sensor, electronic device using the same, and manufacturing method of ranging sensor
DE10232878B4 (en) * 2002-07-19 2012-02-23 Robert Bosch Gmbh Apparatus and method for distance measurement
DE10314772A1 (en) * 2003-03-31 2004-10-14 Robert Bosch Gmbh Device for adjusting an optical mirror
JP2007514942A (en) * 2003-12-19 2007-06-07 ライカ ジオシステムズ アクチェンゲゼルシャフト Distance measurement device for distant and close objects
US20060028351A1 (en) * 2004-08-09 2006-02-09 Lewis James M Docking monitor
US7408627B2 (en) * 2005-02-08 2008-08-05 Canesta, Inc. Methods and system to quantify depth data accuracy in three-dimensional sensors using single frame capture
DE102005043418A1 (en) * 2005-09-13 2007-03-22 Robert Bosch Gmbh Electro-optical measuring device
DE102006013292A1 (en) * 2006-03-23 2007-09-27 Robert Bosch Gmbh Device for optical distance measurement
DE102006013290A1 (en) * 2006-03-23 2007-09-27 Robert Bosch Gmbh Device for optical distance measurement and method for operating such a device
DE102007007903A1 (en) * 2007-02-14 2008-08-21 Sick Ag Optoelectronic sensor arrangement and method for checking the functioning and / or adjustment of an optoelectronic sensor arrangement
DE102007017631B3 (en) * 2007-04-13 2008-07-10 Sick Ag Optoelectronic sensor, has transmission line for differential transmission of electrical transmission pattern, which is designed with multiple single conductors and two external single conductors differentially transfers signal with sign
DE112008000815A5 (en) * 2007-07-24 2010-01-07 Adc Automotive Distance Control Systems Gmbh Sensor system with means for preventing glare of the sensor system by nearby objects
US8103121B2 (en) 2007-08-31 2012-01-24 Adobe Systems Incorporated Systems and methods for determination of a camera imperfection for an image
JPWO2009031550A1 (en) * 2007-09-05 2010-12-16 株式会社 ニコンビジョン Ranging device
FR2920336B1 (en) * 2007-09-05 2012-09-28 Eads Europ Aeronautic Defence Method and device for analyzing processes for producing composite material parts by infusion or injection and characterizing these composite materials.
DE102007053852A1 (en) 2007-11-12 2009-05-14 Robert Bosch Gmbh Device for optical distance measurement
DE102007055771A1 (en) 2007-12-12 2009-06-18 Hilti Aktiengesellschaft Laser Distance Meter
US8107056B1 (en) 2008-09-17 2012-01-31 University Of Central Florida Research Foundation, Inc. Hybrid optical distance sensor
DE102008054790A1 (en) 2008-12-17 2010-07-01 Robert Bosch Gmbh Optical receiver lens and optical rangefinder
US8213022B1 (en) 2009-03-04 2012-07-03 University Of Central Florida Research Foundation, Inc. Spatially smart optical sensing and scanning
DE102009029364A1 (en) * 2009-09-11 2011-03-24 Robert Bosch Gmbh Measuring device for measuring a distance between the measuring device and a target object by means of optical measuring radiation
US8390791B2 (en) * 2009-11-30 2013-03-05 General Electric Company Light detection and ranging system
US9001029B2 (en) * 2011-02-15 2015-04-07 Basf Se Detector for optically detecting at least one object
AU2012219157C1 (en) * 2011-02-15 2015-08-20 Basf Se Detector for optically detecting at least one object
JP2013195079A (en) * 2012-03-15 2013-09-30 Omron Corp Reflective optical sensor
DE102012006869A1 (en) * 2012-04-04 2013-10-10 Valeo Schalter Und Sensoren Gmbh Optoelectronic sensor device, in particular laser scanner, with an adapted receiving unit for optimized reception level reduction
DE102012208308A1 (en) * 2012-05-18 2013-11-21 Robert Bosch Gmbh Optical rangefinder with calibration device to account for crosstalk
JP5998808B2 (en) * 2012-09-28 2016-09-28 株式会社デンソーウェーブ Laser radar equipment
AU2013365772B2 (en) 2012-12-19 2017-08-10 Basf Se Detector for optically detecting at least one object
DE112014000971T5 (en) * 2013-02-25 2015-11-26 Nikon Vision Co., Ltd. Distance measuring device and calibration method
CN105452808A (en) 2013-06-13 2016-03-30 巴斯夫欧洲公司 Detector for optically detecting an orientation of at least one object
WO2014198629A1 (en) 2013-06-13 2014-12-18 Basf Se Detector for optically detecting at least one object
CN105637320B (en) 2013-08-19 2018-12-14 巴斯夫欧洲公司 Fluorescence detector
CN105637382B (en) 2013-08-19 2017-08-25 巴斯夫欧洲公司 For the detector for the position for determining at least one object
US9599711B2 (en) * 2014-07-15 2017-03-21 Honeywell International Inc. Active blade tracker and related systems and methods
KR20170066362A (en) 2014-09-29 2017-06-14 바스프 에스이 Detector for optically determining a position of at least one object
JP2016170114A (en) 2015-03-13 2016-09-23 株式会社東芝 Distance measuring device and photodetector
JP2018534586A (en) 2015-09-14 2018-11-22 トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング Camera for recording at least one image of at least one object
DE102016106154B3 (en) * 2016-04-05 2017-02-16 Sick Ag Opto-electronic sensor and method for detecting and determining the distance of an object
US10234284B2 (en) * 2016-05-13 2019-03-19 Bae Systems Information And Electronic Systems Integration Inc. Multifunctional rangefinder with at least two modes of operation
EP3428574A1 (en) * 2017-07-11 2019-01-16 Fondazione Bruno Kessler Device for measuring a distance and method for measuring said distance
DE102017222972A1 (en) * 2017-12-15 2019-07-04 Ibeo Automotive Systems GmbH Receiving arrangement for receiving light signals
DE102018109544A1 (en) * 2018-04-20 2019-10-24 Sick Ag Optoelectronic sensor and method for distance determination

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4105332A (en) 1977-03-14 1978-08-08 Precision International, Inc. Apparatus for producing a light beam having a uniform phase front and distance measuring apparatus
US5354983A (en) * 1990-04-10 1994-10-11 Auto-Sense, Limited Object detector utilizing a threshold detection distance and suppression means for detecting the presence of a motor vehicle
DE4316348A1 (en) 1993-05-15 1994-11-17 Wild Heerbrugg Ag Distance measuring device
US5530548A (en) * 1994-11-07 1996-06-25 Automotive Systems Laboratory, Inc. Calibratable optical distance sensing system and method
JPH1184003A (en) * 1997-09-04 1999-03-26 Nikon Corp Light wave distance-measuring device
US6259516B1 (en) 1998-05-06 2001-07-10 Quantum Imaging, Inc. Dual sensor distance measuring apparatus and method

Also Published As

Publication number Publication date
WO2003002939A1 (en) 2003-01-09
US20030128351A1 (en) 2003-07-10
JP2004521355A (en) 2004-07-15
US6833909B2 (en) 2004-12-21
DE10130763A1 (en) 2003-01-02
EP1405037A1 (en) 2004-04-07

Similar Documents

Publication Publication Date Title
JP6111617B2 (en) Laser radar equipment
US9316495B2 (en) Distance measurement apparatus
US6894767B2 (en) Light wave distance-measuring system
JP2014052366A (en) Optical measurement instrument and vehicle
CN102575926B (en) Determine and the equipment of surface measurement and method for position
EP2475957B2 (en) Optical distance measuring device
KR100967530B1 (en) Method and device for optically measuring distance
CN101529200B (en) Determining surface and thickness
KR101534912B1 (en) Confocal measurement apparatus
EP1395853B1 (en) Device for optically measuring distances
US6781705B2 (en) Distance determination
US6226076B1 (en) Distance measuring apparatus using pulse light
US5886777A (en) Electronic distance measuring device
US6741082B2 (en) Distance information obtaining apparatus and distance information obtaining method
US8570502B2 (en) Scanning mirror device
EP0307714B1 (en) Light sensor switch
DE102008029459B4 (en) Method and device for non-contact distance measurement
DE60310107T2 (en) Bistatic laser radar equipment
US5302835A (en) Light detection system having a polarization plane rotating means and a polarizing beamsplitter
JP2005227077A (en) Optical moving information detector, moving information detecting system, electronic equipment, and encoder
US7046378B2 (en) Device and method for the optical detection of objects
AU2005100959A4 (en) Laser Distance Measuring Device
US8081299B2 (en) Distance measuring apparatus
US5141302A (en) Intraocular length measuring instrument
US20040105095A1 (en) Arrangement for the optical detection of a moving target flow for a pulsed energy beam pumped radiation

Legal Events

Date Code Title Description
AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

17P Request for examination filed

Effective date: 20040126

17Q First examination report despatched

Effective date: 20100125

RBV Designated contracting states (corrected)

Designated state(s): CH DE FR GB IT LI

RBV Designated contracting states (corrected)

Designated state(s): CH DE FR GB IT LI

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): CH DE FR GB IT LI

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 50215118

Country of ref document: DE

Effective date: 20110825

26N No opposition filed

Effective date: 20120411

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 50215118

Country of ref document: DE

Effective date: 20120411

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: IT

Payment date: 20130424

Year of fee payment: 12

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: CH

Payment date: 20140422

Year of fee payment: 13

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140427

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150430

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150430

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 15

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 16

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 17

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: FR

Payment date: 20190423

Year of fee payment: 18

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: GB

Payment date: 20190424

Year of fee payment: 18

Ref country code: DE

Payment date: 20190627

Year of fee payment: 18